MAV

Reason for forking

The library requires &'static string for connection, even though the underlying library tonic doesn't. This limits how one can specify connection url.

The Rust book for Drones

You can run the Rust book for drones by using mdbook:

mdbook serve

MAV-SDK

A MAVSDK gRPC client ( HTTP/2 ) for communicating with a drone, built from proto files using tonic.

You need to be running the MAVSDK Server (see https://github.com/mavlink/MAVSDK/releases) in order to use this crate.

Run PX4, Gazebo and MAVSDK Server with docker-compose

docker-compose up --detach

Take it to the skies

cargo run -p mav-sdk --example takeoff

Development

Prerequisite:

1. Make sure you have SSH key set for your Github account.

See Github articles:

• Generating a new SSH key and adding it to the ssh-agent
• Adding a new SSH key to your GitHub account

Building the project:

1. Clone the repository and change dir:

git clone [email protected]:AeroRust/mav.git && cd mav

2. Install protoc:

• For Linux & mac
• For Windows

3. Initialize the mavsdk-proto submodule:

git submodule init && git submodule update

4. Build the project

cargo build

Simulation

Gazebo with PX4

Useful documentation regarding the Gazebo simulation and the PX4 flight software:

• PX4 with Gazebo docs: https://dev.px4.io/master/en/simulation/gazebo.html
  • Setting up Wind speed: https://dev.px4.io/master/en/simulation/gazebo.html#change-wind-speed
  • GPS noise: https://dev.px4.io/master/en/simulation/gazebo.html#simulating-gps-noise
  • World location: https://dev.px4.io/master/en/simulation/gazebo.html#set-world-location
  • Survey camera (simulated MAVLINK camera) + geotagging: https://dev.px4.io/master/en/simulation/gazebo.html#simulated-survey-camera
  • Video streaming: https://dev.px4.io/master/en/simulation/gazebo.html#video-streaming Supported only on the Typhoon H480 frame and requires Gstreamer 1.0
• Creating a world with (SD Format is used by Gazebo): http://sdformat.org/tutorials?tut=spec_world&cat=specification
• Physics and other setup like wind:
  • SD Format - http://sdformat.org/spec?ver=1.4&elem=physics#physics_gravity
  • "Windy world" file from PX4 - Gazebo with (SITL): https://github.com/PX4/PX4-SITL_gazebo/blob/master/worlds/windy.world#L15-L26

ArduPilot

• Advanced configuration - Complete Parameter List: https://ardupilot.org/copter/docs/parameters.html#parameters

SITL (Software in the loop)

• Vehicle frame types to choose from: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#frame-types
• Starting SITL without MAVProxy (--no-mavproxy): https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html#connecting-other-additional-ground-stations
• Using STIL: https://ardupilot.org/dev/docs/using-sitl-for-ardupilot-testing.html
• SITL Serial mapping: https://ardupilot.org/dev/docs/sitl-serial-mapping.html
• SITL Parameters: https://ardupilot.org/dev/docs/sitl-parameters.html

Docker images:

• https://github.com/radarku/ardupilot-sitl-docker
• https://github.com/gmyoungblood-parc/docker-alpine-ardupilot

Gazebo

Gazebo doesn't yet have built-in support for ArduPilot and it requires a plugin to be installed.

• https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.html

MAVLink

• MAVLink basics: https://ardupilot.org/dev/docs/mavlink-basics.html#mavlink-basics
• MAVLink Routing in ArduPilot: https://ardupilot.org/dev/docs/mavlink-routing-in-ardupilot.html